An integrated device that meets the requirements of underwater robot deployment and operating environment exploration

Abstract

The present invention discloses an integrated device that meets the requirements of underwater robot deployment and working environment exploration, including a main body bearing mechanism, an amphibious driving mechanism arranged on the main body bearing mechanism, a robot lifting mechanism and an underwater detection mechanism used in conjunction with the robot lifting mechanism; the main body bearing mechanism includes a main body bearing support frame and two main body bearing floats; the amphibious driving mechanism includes a water body driving duct fixed on the lower side of the main body bearing float; the side of the main body bearing float is connected to a land walking driving wheel; the robot lifting mechanism includes a robot lifting support frame, and the lower side of the robot lifting support frame is connected to an underwater robot through a lifting locking mechanism; the equipment is an "amphibious deployment machinery", which can carry the underwater robot on land and transport the underwater robot in water, and the underwater robot can be deployed after being transported to a designated location, and has high work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of water environment survey, and in particular to an integrated device for deploying an underwater robot and exploring an operating environment. Background Art

[0002] In recent years, underwater robots (Remote Operated Vehicle, ROV) have been gradually applied to underwater inspection of underwater structures such as reservoir dams and culverts (tunnels) and river terrain and siltation detection. The deployment and recovery of underwater robots and the exploration of on-site operating environments are of great significance to ensure the safe operation of robots.

[0003] At present, it is still difficult to deploy ROV in complex environments such as reservoirs, water diversion projects and rivers, and it mainly relies on manual lifting and unhooking, self-unlocking buckles and other methods. Among them, when using manual lifting and unhooking, workers need to go to the water surface by boat to manually unhook, which increases the operation time and poses certain safety hazards; ROV self-unlocking buckles are easy to use, but the manufacturing process is complicated and the cost is high.

[0004] On-site working environment exploration is usually carried out manually or by unmanned vessels, which increases operation time and cost. In addition, it is impossible to coordinate ROV lowering and on-site working environment detection, which may lead to a mismatch between the water conditions during on-site exploration and the water conditions when the ROV is lowered.

[0005] For the reservoir environment, ROV underwater inspection is mainly carried out on areas such as the dam, the inlet of the discharge and water transfer structure, the reservoir bank near the dam and the reservoir bottom. These areas have complex environments and geometric shapes. ROV deployment and on-site operation environment exploration should be carried out in coordination to collect on-site water environment data (including: flow rate conditions and water turbidity conditions, etc.) to ensure that the on-site environment under the ROV meets the operational requirements. Summary of the invention

[0006] The purpose of the present invention is to provide an integrated device that meets the requirements of underwater robot deployment and operating environment exploration. It can achieve safe deployment of underwater robots of multiple sizes through low-cost means, and can realize water sample extraction, water turbidity determination and flow rate measurement at fixed locations in reservoir or river environments.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] An integrated device for deploying an underwater robot and exploring an operating environment, comprising a main body bearing mechanism, an amphibious driving mechanism arranged on the main body bearing mechanism, a robot lifting mechanism, and an underwater detection mechanism used in conjunction with the robot lifting mechanism;

[0009] The main body bearing mechanism includes a main body bearing support frame and two main body bearing buoys fixed to the lower side of the main body bearing support frame;

[0010] The amphibious driving mechanism includes a water-driven duct pipe fixed to the lower side of the main body carrying buoy, and a duct propeller is rotatably connected in the water-driven duct pipe;

[0011] The side of the main body bearing buoy is connected with a land travel driving wheel through a driving wheel storage mechanism;

[0012] The robot lifting mechanism includes a plurality of lifting winches fixed on the top of the main body bearing support frame, the cables of the plurality of lifting winches are commonly fixedly connected to the robot lifting support frame, and the lower side of the robot lifting support frame is connected to the underwater robot through a lifting locking mechanism;

[0013] The underwater detection mechanism includes a plurality of underwater detectors.

[0014] Preferably, a width adjustment mechanism is provided on the main body bearing support frame, and the main body bearing support frame is composed of a central support frame and side support frames connected to both sides of the central support frame;

[0015] The width adjustment mechanism includes multiple width adjustment support cylinders fixed on the side support frames, the width adjustment support cylinders are horizontally arranged with the open ends facing the direction of the central support frame, multiple horizontally placed width adjustment sliding cylinders are fixed on both sides of the central support frame, the multiple width adjustment sliding cylinders are slidably connected in each width adjustment support cylinder one by one, and a width adjustment driving rod for driving the width adjustment sliding cylinder to move is provided in the width adjustment support cylinder.

[0016] Description: The width adjustment driving rod is used to drive the width adjustment sliding cylinder to move relative to the axis of the width adjustment support cylinder, thereby driving the central support frame and the side support frames on both sides to move relative to each other. When the side support frames move away from each other, the main load-bearing support frame becomes wider as a whole, and when the side support frames move closer to each other, the main load-bearing support frame becomes narrower as a whole. Adjusting the size of the main load-bearing support frame is also why it can adapt to the lifting and installation of underwater robots of various specifications.

[0017] Preferably, a propeller rotating support ring coaxial with the water-driven duct is fixed in the water-driven duct, the rotating shaft of the ducted propeller is rotatably connected in the propeller rotating support ring, and the propeller rotating support ring is fixedly connected to the inner wall of the water-driven duct through a plurality of radial fixing rods;

[0018] A driving housing is fixed to the backwater end of the propeller rotating support ring, and a propeller driving motor for driving the ducted propeller to rotate is fixed in the driving housing.

[0019] Description: After entering the water, the main body carrying buoy provides buoyancy for the entire equipment in the water, and uses multiple ducted propellers to provide driving force for the entire equipment in the water, making it easy for the entire equipment to maneuver quickly to the designated deployment position.

[0020] Preferably, the driving wheel storage mechanism comprises a plurality of driving wheel storage supports fixed to the outside of the main body bearing buoy, and a driving wheel storage support shaft is rotatably connected to the driving wheel storage supports;

[0021] A driving wheel retractable support cylinder extending in the radial direction is fixed on the driving wheel storage support shaft, a driving wheel retractable sliding cylinder is slidably connected in the driving wheel retractable support cylinder, a plurality of land travel driving wheels are mounted on the outer ends of each driving wheel retractable sliding cylinder in a one-to-one correspondence, and a retractable storage driving rod for driving the driving wheel retractable sliding cylinder to move is provided in the driving wheel retractable support cylinder;

[0022] A deflection drive accommodating shell is fixed to the side of the driving wheel storage support, and a deflection driven worm gear is fixed to one end of the driving wheel storage support shaft in the deflection drive accommodating shell. A deflection drive worm gear meshing with the deflection driven worm gear is rotatably connected in the deflection drive accommodating shell, and a deflection drive motor for driving the deflection drive worm gear to rotate is fixed to the deflection drive accommodating shell.

[0023] Description: When the entire equipment is transferred to the water, it is convenient to fold and store the drive wheel telescopic support cylinder, the drive wheel telescopic sliding cylinder and the land-based driving wheel, which is beneficial to reducing the travel resistance in the water.

[0024] Preferably, a floating and sinking control mechanism is provided in the main body carrying buoy, and the floating and sinking control mechanism includes a plurality of floating and sinking control ballast pipes fixed in the main body carrying buoy, and both ends of the floating and sinking control ballast pipes are sealed structures;

[0025] A ballast driving piston is slidably connected in the buoyancy control ballast pipe, and the ballast driving piston divides the buoyancy control ballast pipe into a high-pressure ballast chamber and a ballast water chamber. A high-pressure ballast connecting pipe connected to the high-pressure ballast chamber is fixed on the outside of the buoyancy control ballast pipe, and a ballast water connecting pipe connected to the ballast water chamber is fixed on the outside of the buoyancy control ballast pipe. A high-pressure ballast connecting pipe is provided with a high-pressure ballast control valve, and a ballast water connecting pipe is provided with a ballast water control valve. The other end of the ballast water connecting pipe extends to be connected to the outside of the main body bearing buoy.

[0026] An air compressor is fixed in the main body bearing buoy, and a high-pressure gas tank of the air compressor is connected with the high-pressure ballast connecting pipe.

[0027] Description: The floating height of the entire equipment on the water surface is adjusted by using the buoyancy control mechanism. High-pressure air is injected into the high-pressure ballast chamber through the high-pressure ballast connecting pipe. The ballast driving piston is driven to discharge the water in the ballast water chamber through the ballast water connecting pipe, thereby reducing the overall weight of the equipment and adjusting the equipment to float upward.

[0028] Preferably, the lifting locking mechanism comprises a plurality of lifting locking outer cylinders fixed to the lower side of the robot lifting support frame and with the opening facing downward, a plurality of locking drive accommodating shells are fixed to the outer side of the lifting locking outer cylinder, a plurality of locking rod accommodating holes radially extending through the side surface of the lifting locking outer cylinder are provided, the plurality of locking rod accommodating holes are correspondingly connected to each locking drive accommodating shell, a locking constraint rod is slidably connected in the locking rod accommodating hole, and a locking drive rod for driving the locking constraint rod to move is provided in the locking drive accommodating shell;

[0029] A plurality of lifting and locking support columns fixedly matched with the lifting and locking outer cylinder are fixed on the top of the underwater robot, and locking constraint ring grooves are arranged on the outer sides of the lifting and locking support columns.

[0030] Description: The lifting locking mechanism is used to facilitate the rapid lifting and installation of the robot lifting support frame and the underwater robot, and to facilitate the rapid deployment of the underwater robot underwater.

[0031] Preferably, the lifting locking mechanism is connected to the robot lifting support frame through an adaptive matching mechanism, the robot lifting support frame has a plurality of matching mounting holes, the adaptive matching mechanism comprises an adaptive matching fixing cylinder fixed in the matching mounting holes and with the opening facing downward, and an adaptive matching support plate is rotatably connected in the adaptive matching fixing cylinder;

[0032] A matching adjustment support slide rail extending radially is fixed to the bottom of the adaptive matching support plate, a matching adjustment support slider is slidably connected to the matching adjustment support slide rail, and a plurality of lifting locking outer cylinders are fixedly connected to the lower ends of the matching adjustment support sliders one by one.

[0033] Description: The relative position and distance between the various lifting locking outer cylinders on the robot lifting support frame can be adjusted through the adaptive matching mechanism to adapt to the lifting and installation of underwater robots of various specifications.

[0034] Preferably, the underwater detection mechanism comprises an underwater detection mounting frame, and a plurality of underwater detectors are mounted on the underwater detection mounting frame via a quick-release structure.

[0035] Description: The underwater detection mechanism is used to facilitate the exploration of the underwater environment, including the detection of water temperature, water turbidity, water flow rate, water pH and water salt ions, and the collection of water samples.

[0036] Preferably, the quick-release structure includes a plurality of quick-release structure slide rails fixed to the lower side of the underwater detection mounting frame, the quick-release structure slide rails are rails with a T-shaped cross section, and a plurality of quick-release structure sliders are slidably connected to the quick-release structure slide rails;

[0037] The quick-release structure slide block is provided with a limit shaft through hole, the axis of the limit shaft through hole is perpendicular to the extension direction of the quick-release structure slide rail, a quick-release limit constraint shaft is rotatably connected in the limit shaft through hole, a limit release groove is provided on the side of the quick-release limit constraint shaft, and a plurality of quick-release limit constraint grooves are provided on the quick-release structure slide rail;

[0038] A manual driving disc is fixed to the end of the quick-release limit constraint shaft.

[0039] Note: In the quick-release structure, the limit shaft through hole is connected to the slide groove on the quick-release structure slider. By twisting the quick-release limit constraint shaft so that the quick-release limit constraint shaft is stuck in the quick-release limit constraint groove, the quick-release structure slider can be relatively fixed on the quick-release structure slide rail, and then the underwater detector can be fixedly installed on the quick-release structure slider.

[0040] Preferably, a water sampling mechanism is provided on the robot lifting support frame, and the water sampling mechanism includes a water sampling containing shell fixed on the top of the robot lifting support frame and with its opening facing upward, a plurality of sampling bottle restraint rings are fixed on the bottom of the water sampling containing shell, a water sampling bottle is clamped and fixed in the sampling bottle restraint ring, a containing shell cover is sealed and fixed on the top of the water sampling containing shell, a plurality of sampling tube fixing holes connected with the water sampling containing shell are provided on the containing shell cover, a sampling delivery tube is fixed in the sampling tube fixing hole, a sampling delivery needle is fixed at one end of the sampling delivery tube located in the water sampling containing shell, the sampling delivery needles are inserted one by one into the rubber stopper at the mouth of the water sampling bottle, and a sampling control valve is provided on the sampling delivery tube, and the sampling control valve is an electrically controlled valve.

[0041] Note: When the bottle is empty, the inside of the water sampling bottle is in a negative pressure state. When the corresponding sampling control valve is opened, under the action of negative pressure, water is injected into the water sampling bottle through the sampling delivery tube and the sampling delivery needle. When the water sampling bottle is finished collecting, close the corresponding sampling control valve. Multiple water sampling bottles can be controlled individually, which is convenient for collecting water samples at multiple locations and depths.

[0042] Compared with the prior art, the beneficial effects of the present invention are embodied in the following aspects:

[0043] 1. The structural design of the present invention is reasonable. The equipment is an "amphibious deployment machine" that can transport the underwater robot on land and transport it in water. The underwater robot can be deployed after being transported to a designated location, which has high work efficiency.

[0044] 2. In the technical solution of the present invention, the underwater robot is hoisted on the lower side of the main body bearing support frame by the robot hoisting mechanism. When on land, the entire device is driven by the land walking driving wheels to move. After moving into the water, the main body bearing buoy provides buoyancy in the water for the entire device, and multiple ducted propellers are used to provide driving force in the water for the entire device, so that the entire device can be quickly maneuvered to the designated deployment position;

[0045] 3. In the technical solution of the present invention, the lifting locking mechanism is used to facilitate the rapid lifting and installation of the robot lifting support frame and the underwater robot, and to facilitate the rapid deployment of the underwater robot underwater;

[0046] 4. In the technical solution of the present invention, when the entire device is transferred to the water, it is convenient to fold and store the telescopic support cylinder of the driving wheel, the telescopic sliding cylinder of the driving wheel together with the land-based driving wheel, which is beneficial to reduce the travel resistance in the water;

[0047] 5. In the technical solution of the present invention, the relative position and distance between each lifting locking outer cylinder on the robot lifting support frame can be adjusted through the adaptive matching mechanism to adapt to the lifting and installation of underwater robots of various specifications;

[0048] 6. In the technical solution of the present invention, an underwater detection mechanism is used to facilitate the exploration of the underwater environment, including the detection of water temperature, water turbidity, water flow rate, water pH and water salt ions, and the collection of water samples; the underwater detection mechanism is hoisted and installed on the lower side of the robot hoisting support frame as a whole, and various underwater detectors are installed on the underwater detection mounting frame through a quick-disassembly structure, which is convenient for replacing the type of underwater detectors. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a front view of the present invention;

[0050] Figure 2 yes Figure 1 A top view of

[0051] Figure 3 is a schematic structural diagram of a ducted propeller according to the present invention;

[0052] Figure 4 It is a schematic structural diagram of the deflection drive accommodating shell of the present invention;

[0053] Figure 5 2. It is a schematic diagram of the structure of the floating and sinking control ballast pipe of the present invention;

[0054] Figure 6 It is a structural schematic diagram of the lifting and locking mechanism of the present invention;

[0055] Figure 7 It is a structural schematic diagram of the lifting and locking support column of the present invention;

[0056] Figure 8 It is a structural schematic diagram of the adaptive matching mechanism of the present invention;

[0057] Fig. 9 It is a structural schematic diagram of the underwater detection mechanism of the present invention;

[0058] Fig.10 It is a structural schematic diagram of the quick-release structure of the present invention;

[0059] Fig.11 It is a structural schematic diagram of the water body sampling mechanism of the present invention.

[0060] In the figure, 10-main body bearing mechanism, 11-main body bearing support frame, 111-central support frame, 112-side support frame, 12-main body bearing buoy, 13-width adjustment mechanism, 131-width adjustment support cylinder, 132-width adjustment sliding cylinder, 133-width adjustment driving rod, 20-amphibious driving mechanism, 21-water body driving duct pipe, 22-duct propeller, 221-propeller rotating support ring, 222-radial fixing rod, 223-driving accommodating shell, 224-propeller driving motor, 23-driving wheel storage mechanism, 231-driving wheel storage support, 232-driving wheel Drive wheel storage support shaft, 233-drive wheel telescopic support cylinder, 234-drive wheel telescopic sliding cylinder, 235-telescopic storage drive rod, 24-land walking drive wheel, 251-deflection drive accommodating shell, 252-deflection driven worm gear, 253-deflection drive worm, 254-deflection drive motor, 26-floating and sinking control mechanism, 261-floating and sinking control ballast pipe, 262-ballast drive piston, 263-high-pressure ballast chamber, 264-ballast water chamber, 265-high-pressure ballast connecting pipe, 2651-high-pressure ballast control valve, 266-ballast water connecting pipe, 2661-ballast water control valve, 2 67-air compressor, 30-robot lifting mechanism, 31-lifting winch, 32-robot lifting support frame, 33-lifting locking mechanism, 331-lifting locking outer cylinder, 332-locking drive accommodating shell, 333-locking rod accommodating hole, 334-locking constraint rod, 335-locking drive rod, 336-lifting locking support column, 337-locking constraint ring groove, 34-adaptive matching mechanism, 340-matching mounting hole, 341-adaptive matching fixing cylinder, 342-adaptive matching support plate, 343-matching adjustment support slide rail, 344-matching adjustment support slider, 40-water Lower detection mechanism, 41-underwater detection mounting frame, 42-quick release structure, 421-quick release structure slide rail, 422-quick release structure slider, 423-limit shaft through hole, 424-quick release limit constraint shaft, 425-limit release groove, 426-quick release limit constraint groove, 427-manual drive disk, 43-underwater detector, 44-water body sampling mechanism, 441-water body sampling housing, 442-sampling bottle constraint ring, 443-water body sampling bottle, 444-housing cover, 445-sampling tube fixing hole, 446-sampling delivery tube, 447-sampling delivery needle, 448-sampling control valve. DETAILED DESCRIPTION

[0061] Combine the following Figure 1-Figure 11 The present invention is described in detail. For the convenience of description, the directions mentioned below are defined as follows: the up, down, left, right, front, and back directions mentioned below are consistent with the up, down, left, right, front, and back directions of the projection relationship of the respective main views or structural schematic diagrams themselves.

[0062] Embodiment 1:

[0063] An integrated device that can meet the requirements of underwater robot deployment and operating environment exploration, such as Figure 1 As shown, it includes a main body carrying mechanism 10, an amphibious driving mechanism 20 arranged on the main body carrying mechanism 10, a robot lifting mechanism 30, and an underwater detection mechanism 40 used in conjunction with the robot lifting mechanism 30;

[0064] like Figure 1 As shown, the main body bearing mechanism 10 includes a main body bearing support frame 11 and two main body bearing buoys 12 fixed to the lower side of the main body bearing support frame 11;

[0065] like Figure 1 As shown, the amphibious driving mechanism 20 includes a water-driven duct 21 fixed to the lower side of the main body carrying buoy 12, and a duct propeller 22 is rotatably connected in the water-driven duct 21;

[0066] The side of the main body carrying buoy 12 is connected to a land travel driving wheel 24 through a driving wheel storage mechanism 23, and the land travel driving wheel 24 is driven to rotate by a hub motor;

[0067] like Figure 1 As shown, the robot lifting mechanism 30 includes a plurality of lifting winches 31 fixed on the top of the main body bearing support frame 11, the cables of the plurality of lifting winches 31 are commonly fixedly connected to a robot lifting support frame 32, and the lower side of the robot lifting support frame 32 is connected to an underwater robot 90 through a lifting locking mechanism 33;

[0068] The underwater detection mechanism 40 includes a plurality of underwater detectors 43 .

[0069] like Figure 1 As shown, the driving wheel storage mechanism 23 includes a plurality of driving wheel storage supports 231 fixed to the outside of the main body bearing buoy 12, and a driving wheel storage support shaft 232 is rotatably connected to the driving wheel storage support 231;

[0070] A driving wheel telescopic support cylinder 233 extending in the radial direction is fixed on the driving wheel storage support shaft 232, a driving wheel telescopic sliding cylinder 234 is slidably connected in the driving wheel telescopic support cylinder 233, a plurality of land travel driving wheels 24 are mounted on the outer ends of each driving wheel telescopic sliding cylinder 234 in a one-to-one correspondence, and a telescopic storage driving rod 235 for driving the driving wheel telescopic sliding cylinder 234 to move is provided in the driving wheel telescopic support cylinder 233;

[0071] The telescopic storage driving rod 235 is an electrically controlled telescopic rod, the outer rod end of the telescopic storage driving rod 235 is fixedly connected to the driving wheel telescopic support cylinder 233, and the inner rod end of the telescopic storage driving rod 235 is fixedly connected to the driving wheel telescopic sliding cylinder 234;

[0072] like Figure 2As shown, a deflection drive housing 251 is fixed to the side of the drive wheel receiving support 231. Figure 4 As shown, a deflection driven worm gear 252 is fixed to one end of the driving wheel storage support shaft 232 in the deflection driving accommodating shell 251, and a deflection driving worm 253 meshing with the deflection driven worm gear 252 is rotatably connected in the deflection driving accommodating shell 251. A deflection driving motor 254 for driving the deflection driving worm 253 to rotate is fixed to the deflection driving accommodating shell 251, and the deflection driving motor 254 is a servo motor.

[0073] like Figure 6 As shown, the lifting locking mechanism 33 includes a plurality of lifting locking outer cylinders 331 fixed to the lower side of the robot lifting support frame 32 and with the opening facing downward, a plurality of locking drive accommodating shells 332 are fixed to the outer side of the lifting locking outer cylinder 331, a plurality of locking rod accommodating holes 333 radially extending through the side of the lifting locking outer cylinder 331 are provided, the plurality of locking rod accommodating holes 333 are correspondingly connected to each locking drive accommodating shell 332, a locking constraint rod 334 is slidably connected in the locking rod accommodating hole 333, and a locking drive rod 335 for driving the locking constraint rod 334 to move is provided in the locking drive accommodating shell 332;

[0074] The locking driving rod 335 is an electrically controlled telescopic rod, the outer rod end of the locking driving rod 335 is fixedly connected to the locking driving accommodating shell 332, and the inner rod end of the locking driving rod 335 is fixedly connected to the locking restraining rod 334;

[0075] like Figure 7 As shown, a plurality of lifting and locking support columns 336 fixedly matched with the lifting and locking outer cylinder 331 are fixed on the top of the underwater robot 90, and a locking constraint ring groove 337 is provided on the outer side of the lifting and locking support column 336.

[0076] like Fig. 9 As shown, the underwater detection mechanism 40 includes an underwater detection mounting frame 41, and a plurality of underwater detectors 43 are mounted on the underwater detection mounting frame 41 through a quick-release structure 42;

[0077] The underwater detector 43 includes a water turbidity detector and a flow rate detector.

[0078] like Fig.10 As shown, the quick-release structure 42 includes a plurality of quick-release structure rails 421 fixed to the lower side of the underwater detection mounting frame 41. The quick-release structure rails 421 are rails with a T-shaped cross section, and a plurality of quick-release structure sliders 422 are slidably connected to the quick-release structure rails 421.

[0079] The quick-release structure slider 422 is provided with a limit shaft through hole 423, the axis of the limit shaft through hole 423 is perpendicular to the extension direction of the quick-release structure slide rail 421, a quick-release limit constraint shaft 424 is rotatably connected in the limit shaft through hole 423, a limit release groove 425 is provided on the side of the quick-release limit constraint shaft 424, and a plurality of quick-release limit constraint grooves 426 are provided on the quick-release structure slide rail 421, and the extension direction of the quick-release limit constraint grooves 426 is perpendicular to the extension direction of the quick-release structure slide rail 421;

[0080] A manual drive disc 427 is fixed to the end of the quick-release limit constraint shaft 424 .

[0081] Embodiment 2:

[0082] On the basis of Example 1, Figure 1 As shown, the main body bearing support frame 11 is provided with a width adjustment mechanism 13, such as Figure 2 As shown, the main body bearing support frame 11 is composed of a central support frame 111 and side support frames 112 connected to both sides of the central support frame 111;

[0083] like Figure 2 As shown, the width adjustment mechanism 13 includes a plurality of width adjustment support cylinders 131 fixed on the side support frames 112, the width adjustment support cylinders 131 are arranged horizontally and the open ends are facing the central support frame 111, a plurality of horizontally placed width adjustment sliding cylinders 132 are fixed on both sides of the central support frame 111, the plurality of width adjustment sliding cylinders 132 are slidably connected in each width adjustment support cylinder 131 in a one-to-one correspondence, and a width adjustment driving rod 133 for driving the width adjustment sliding cylinder 132 to move is provided in the width adjustment support cylinder 131;

[0084] The width adjustment driving rod 133 is an electrically controlled telescopic rod, the outer rod end of the width adjustment driving rod 133 is fixedly connected to the width adjustment supporting cylinder 131 , and the inner rod end of the width adjustment driving rod 133 is fixedly connected to the width adjustment sliding cylinder 132 .

[0085] Embodiment 3:

[0086] On the basis of Example 2, Figure 3 As shown, a propeller rotating support ring 221 coaxial with the water-driven duct pipe 21 is fixed inside the water-driven duct pipe 21, and the rotating shaft of the duct propeller 22 is rotatably connected to the propeller rotating support ring 221, and the propeller rotating support ring 221 is fixedly connected to the inner wall of the water-driven duct pipe 21 through a plurality of radial fixing rods 222;

[0087] A driving housing 223 is fixed to the backwater end of the propeller rotation support ring 221 , and a propeller driving motor 224 for driving the ducted propeller 22 to rotate is fixed inside the driving housing 223 .

[0088] Embodiment 4:

[0089] On the basis of Example 3, Figure 1 As shown, a floating and sinking control mechanism 26 is provided in the main body carrying buoy 12, and the floating and sinking control mechanism 26 includes a plurality of floating and sinking control ballast pipes 261 fixed in the main body carrying buoy 12, and both ends of the floating and sinking control ballast pipes 261 are sealed structures;

[0090] like Figure 5 As shown, a ballast driving piston 262 is slidably connected in the buoyancy control ballast pipe 261, and the ballast driving piston 262 divides the buoyancy control ballast pipe 261 into a high-pressure ballast chamber 263 and a ballast water chamber 264. A high-pressure ballast connecting pipe 265 connected to the high-pressure ballast chamber 263 is fixed on the outside of the buoyancy control ballast pipe 261, and a ballast water connecting pipe 266 connected to the ballast water chamber 264 is fixed on the outside of the buoyancy control ballast pipe 261. A high-pressure ballast control valve 2651 is provided on the high-pressure ballast connecting pipe 265, and a ballast water control valve 2661 is provided on the ballast water connecting pipe 266. The other end of the ballast water connecting pipe 266 extends to be connected to the outside of the main body carrying buoy 12.

[0091] like Figure 1 As shown, an air compressor 267 is fixed inside the main body carrying buoy 12 , and the high-pressure gas tank of the air compressor 267 is connected to the high-pressure ballast connecting pipe 265 .

[0092] Embodiment 5:

[0093] On the basis of Example 4, Figure 1 As shown, the lifting locking mechanism 33 is connected to the robot lifting support frame 32 through an adaptive matching mechanism 34. Figure 8 As shown, the robot lifting support frame 32 has a plurality of matching mounting holes 340, and the adaptive matching mechanism 34 includes an adaptive matching fixing cylinder 341 fixed in the matching mounting hole 340 and with its opening facing downward, and an adaptive matching support disk 342 is rotatably connected in the adaptive matching fixing cylinder 341, and the adaptive matching support disk 342 is driven by a servo motor to rotate around the axis of the adaptive matching fixing cylinder 341;

[0094] A matching adjustment support slide rail 343 extending radially is fixed to the bottom of the adaptive matching support plate 342, and a matching adjustment support slider 344 is slidably connected to the matching adjustment support slide rail 343. A plurality of lifting locking outer cylinders 331 are fixedly connected to the lower ends of the matching adjustment support sliders 344 one by one.

[0095] The matching adjustment support slider 344 is driven by a servo motor to move along the matching adjustment support rail 343 .

[0096] Embodiment 6:

[0097] On the basis of Example 5, Figure 1 As shown, a water sampling mechanism 44 is provided on the robot lifting support frame 32. Fig.11 As shown, the water sampling mechanism 44 includes a water sampling containing shell 441 fixed on the top of the robot lifting support frame 32 and with its opening facing upward, a plurality of sampling bottle restraint rings 442 are fixed at the bottom of the water sampling containing shell 441, a water sampling bottle 443 is clamped and fixed in the sampling bottle restraint ring 442, a containing shell cover 444 is sealed and fixed at the top of the water sampling containing shell 441, a plurality of sampling tube fixing holes 445 connected to the water sampling containing shell 441 are provided on the containing shell cover 444, a sampling tube fixing hole 445 is fixed with a sampling delivery tube 446, a sampling delivery needle 447 is fixed at one end of the sampling delivery tube 446 located in the water sampling containing shell 441, the sampling delivery needles 447 are inserted into the rubber stopper at the bottle mouth of the water sampling bottle 443 one by one, and a sampling control valve 448 is provided on the sampling delivery tube 446, and the sampling control valve 448 is an electrically controlled valve.

[0098] It should be noted that the propeller drive motor 224, telescopic storage drive rod 235, deflection drive motor 254, high-pressure ballast control valve 2651, ballast water control valve 2661, air compressor 267, hoisting winch 31, and sampling control valve 448 used in the various embodiments of the present application are structures or products of the prior art, which are not specifically limited here, and those skilled in the art can choose to use them according to common sense.

[0099] In the actual application process of the present invention, the underwater robot 90 is hoisted on the lower side of the main body bearing support frame 11 by the robot hoisting mechanism 30. When on land, the entire device is driven by the land walking driving wheels 24 to move and travel, and gradually travels into the water through the gentle slope of the dock. The main body bearing buoy 12 is used to provide buoyancy in the water for the entire device, so that the entire device floats on the water surface. The ducted propeller 22 on the lower side of the main body bearing buoy 12 is used to provide driving force in the water for the entire device, and the entire device is driven to move to a designated position. Then the underwater robot 90 is deployed underwater, and the underwater robot 90 is used to explore the underwater.

[0100] A sealed waterproof box is fixedly installed on the main body bearing support frame 11, and then a plurality of prior art rechargeable batteries are installed in the sealed waterproof box, and the electric energy stored in the batteries is used to provide power for driving the entire device;

[0101] When walking on land, the telescopic storage driving rod 235 is used to drive the driving wheel telescopic sliding cylinder 234 to move along the axis of the driving wheel telescopic support cylinder 233, thereby adjusting the support position of the land walking driving wheel 24 and adjusting the ground clearance of the main body bearing support frame 11 to meet the hoisting requirements of various specifications of the underwater robot 90, and also to cope with various terrain environments for movement and travel;

[0102] When the entire device is transferred to the water, the driving wheel telescopic support cylinder 233 is folded and stored. Specifically, the deflection drive motor 254 drives the deflection driven worm gear 252 to rotate through the deflection drive worm 253, and the deflection driven worm gear 252 drives the driving wheel storage support shaft 232 to rotate together with the driving wheel telescopic support cylinder 233, and the driving wheel telescopic support cylinder 233 drives the driving wheel telescopic sliding cylinder 234 to deflect upward and store together with the land walking driving wheel 24, which is beneficial to reduce the travel resistance in the water body;

[0103] The lifting and locking mechanism 33 is used to facilitate the rapid lifting and installation of the robot lifting support frame 32 and the underwater robot 90, and to facilitate the rapid deployment of the underwater robot 90 underwater. The lifting and locking support column 336 is fixedly installed on the top of the underwater robot 90. The lifting winch 31 is used to drive the robot lifting support frame 32 to move in the vertical direction as a whole, so that the lifting and locking outer cylinder 331 at the bottom of the robot lifting support frame 32 and the lifting and locking support column 336 are aligned in the vertical direction. By moving the robot lifting support frame 32 downward as a whole, the lifting and locking support column 336 is inserted into the lifting and locking outer cylinder 331, and then the locking driving rod 335 is used to drive the locking constraint rod 334 to move, so that the end of the locking constraint rod 334 is stuck in the locking constraint ring groove 337, so that the lifting and installation of the robot lifting support frame 32 and the underwater robot 90 can be completed. The cable of the lifting winch 31 is tightened to drive the robot lifting support frame 32 and the underwater robot 90 to move upward as a whole, so that the underwater robot 90 is away from the ground.

[0104] After the ducted propeller 22 drives the entire device to move to the specified position, the cable of the hoisting winch 31 is released, so that the robot hoisting support frame 32 and the underwater robot 90 are sunk into the water as a whole. When the underwater robot 90 reaches the specified depth, the locking drive rod 335 drives the locking constraint rod 334 to move, so that the locking constraint rod 334 is disengaged from the locking constraint ring groove 337. Then, the cable of the hoisting winch 31 is tightened to drive the robot hoisting support frame 32 back to the initial position, and the deployment of the underwater robot 90 is completed.

[0105] The relative position and distance between the lifting locking outer cylinders 331 on the robot lifting support frame 32 can be adjusted by the adaptive matching mechanism 34 to adapt to the lifting and installation of underwater robots 90 of various specifications;

[0106] The servo motor drives the matching adjustment support slider 344 to move along the matching adjustment support rail 343, and the matching adjustment support slider 344 drives the lifting and locking outer cylinder 331 to move together.

[0107] The servo motor drives the adaptive matching support plate 342 to rotate around the axis of the adaptive matching fixed cylinder 341, which can adjust the direction of the matching adjustment support slide rail 343, and then adjust the movement adjustment direction of the lifting and locking outer cylinder 331, and adjust the relative position and distance between each lifting and locking outer cylinder 331, so as to adapt to the lifting and installation of underwater robots 90 of various specifications;

[0108] In the width adjustment mechanism 13, the width adjustment driving rod 133 is used to drive the width adjustment sliding cylinder 132 to move relatively along the axis of the width adjustment support cylinder 131, thereby driving the central support frame 111 and the side support frames 112 on both sides to move relatively. When the side support frames 112 move away from each other, the main body support frame 11 becomes wider as a whole, and when the side support frames 112 move closer to each other, the main body support frame 11 becomes narrower as a whole. The size of the main body support frame 11 is adjusted, which is why it is suitable for the underwater robots 90 of various specifications to be hoisted and installed;

[0109] The floating height of the whole equipment on the water surface is adjusted by using the floating control mechanism 26, and high-pressure air is injected into the high-pressure ballast chamber 263 through the high-pressure ballast connecting pipe 265, and the ballast driving piston 262 is driven to discharge the water in the ballast water chamber 264 through the ballast water connecting pipe 266, so as to reduce the weight of the whole equipment and adjust the whole equipment to float upward;

[0110] The high-pressure air in the high-pressure ballast chamber 263 is released through the high-pressure ballast connecting pipe 265, and the external water enters the ballast water chamber 264 through the ballast water connecting pipe 266, so that the whole equipment is increased in weight and the whole equipment is adjusted to sink and move;

[0111] The underwater detection mechanism 40 is used to conveniently explore the underwater environment, including the detection of water temperature, water turbidity, water flow rate, water pH and water salt ions, and to collect water samples;

[0112] A lifting and locking support column 336 is also fixed on the top of the underwater detection mounting frame 41, so as to facilitate the overall lifting and installation of the underwater detection mechanism 40 on the lower side of the robot lifting support frame 32;

[0113] Various underwater detectors 43 are installed on the underwater detection mounting frame 41 through the quick-release structure 42. In the quick-release structure 42, the limit shaft through hole 423 is connected to the slide groove on the quick-release structure slider 422. By twisting the quick-release limit constraint shaft 424 so that the quick-release limit constraint shaft 424 is stuck in the quick-release limit constraint groove 426, the quick-release structure slider 422 can be relatively fixed on the quick-release structure slide rail 421, and then the underwater detector 43 can be fixedly installed on the quick-release structure slider 422.

[0114] By twisting the quick-release limit constraint shaft 424 to make the limit release groove 425 flush with the surface of the quick-release structure slide rail 421, the quick-release structure slider 422 can slide freely on the quick-release structure slide rail 421, which is convenient for disassembly and installation of the quick-release structure slider 422 together with the underwater detector 43;

[0115] When the underwater detection mounting frame 41 and the robot lifting support frame 32 are hoisted and installed, the robot lifting support frame 32 and the underwater detection mounting frame 41 are driven to move together by tightening and releasing the cable of the lifting winch 31, so that the underwater detection mounting frame 41 is moved to a specified depth to detect the underwater environment using each underwater detector 43;

[0116] By tightening and releasing the cable of the lifting winch 31, the robot lifting support frame 32 is driven to move together with the water sampling mechanism 44 to the sampling depth. When the bottle is empty, the interior of the water sampling bottle 443 is in a negative pressure state. When the corresponding sampling control valve 448 is opened, under the action of negative pressure, water is injected into the water sampling bottle 443 through the sampling delivery tube 446 and the sampling delivery needle 447. When the water sampling bottle 443 has completed the collection, the corresponding sampling control valve 448 can be closed. Multiple water sampling bottles 443 can be controlled individually, which is convenient for collecting water samples at multiple locations and depths.

Claims

1. An integrated device that can be used for underwater robot deployment and operating environment exploration, characterized in that: It comprises a main body carrying mechanism (10), an amphibious driving mechanism (20) arranged on the main body carrying mechanism (10), a robot lifting mechanism (30), and an underwater detection mechanism (40) used in conjunction with the robot lifting mechanism (30); The main body bearing mechanism (10) comprises a main body bearing support frame (11) and two main body bearing buoys (12) fixed to the lower side of the main body bearing support frame (11); The main body bearing support frame (11) is provided with a width adjustment mechanism (13), and the main body bearing support frame (11) is composed of a central support frame (111) and side support frames (112) connected to both sides of the central support frame (111); The width adjustment mechanism (13) comprises a plurality of width adjustment support cylinders (131) fixed on the side support frames (112); the width adjustment support cylinders (131) are arranged horizontally and their open ends face the direction of the central support frame (111); a plurality of horizontally placed width adjustment sliding cylinders (132) are fixed on both sides of the central support frame (111); the plurality of width adjustment sliding cylinders (132) are slidably connected in respective width adjustment support cylinders (131) in a one-to-one correspondence; a width adjustment driving rod (133) for driving the width adjustment sliding cylinder (132) to move is provided in the width adjustment support cylinder (131); The amphibious driving mechanism (20) comprises a water-driven ducted pipe (21) fixed to the lower side of the main body bearing buoy (12), and a ducted propeller (22) is rotatably connected in the water-driven ducted pipe (21); The side surface of the main body bearing buoy (12) is connected to a land travel driving wheel (24) via a driving wheel storage mechanism (23); A buoyancy control mechanism (26) is provided in the main body bearing buoy (12), and the buoyancy control mechanism (26) comprises a plurality of buoyancy control ballast pipes (261) fixed in the main body bearing buoy (12), and both ends of the buoyancy control ballast pipes (261) are sealed structures; A ballast driving piston (262) is slidably connected inside the buoyancy control ballast pipe (261), and the ballast driving piston (262) divides the buoyancy control ballast pipe (261) into a high-pressure ballast chamber (263) and a ballast water chamber (264). A high-pressure ballast connecting pipe (265) connected to the high-pressure ballast chamber (263) is fixed on the outside of the buoyancy control ballast pipe (261), and a ballast water connecting pipe (266) connected to the ballast water chamber (264) is fixed on the outside of the buoyancy control ballast pipe (261). A high-pressure ballast connecting pipe (265) is provided with a high-pressure ballast control valve (2651), and a ballast water connecting pipe (266) is provided with a ballast water control valve (2661). The other end of the ballast water connecting pipe (266) extends to be connected to the outside of the main body bearing buoy (12); An air compressor (267) is fixed inside the main body bearing buoy (12), and a high-pressure gas tank of the air compressor (267) is connected to the high-pressure ballast connecting pipe (265); The robot lifting mechanism (30) comprises a plurality of lifting winches (31) fixed on the top of the main body bearing support frame (11); the cables of the plurality of lifting winches (31) are commonly fixedly connected to a robot lifting support frame (32); and the lower side of the robot lifting support frame (32) is connected to an underwater robot (90) via a lifting locking mechanism (33); The lifting locking mechanism (33) comprises a plurality of lifting locking outer cylinders (331) fixed to the lower side of the robot lifting support frame (32) and opening downward, a plurality of locking drive accommodating shells (332) are fixed to the outer side of the lifting locking outer cylinder (331), a plurality of locking rod accommodating holes (333) passing through the lifting locking outer cylinder (331) in a radial direction are provided on the side surface, the plurality of locking rod accommodating holes (333) are connected to the respective locking drive accommodating shells (332) in a one-to-one correspondence, a locking constraint rod (334) is slidably connected in the locking rod accommodating hole (333), and a locking drive rod (335) for driving the locking constraint rod (334) to move is provided in the locking drive accommodating shell (332); A plurality of lifting and locking support columns (336) fixedly matched with the lifting and locking outer cylinder (331) are fixed on the top of the underwater robot (90); the outer sides of the lifting and locking support columns (336) are provided with locking and restraining ring grooves (337); The lifting locking mechanism (33) is connected to the robot lifting support frame (32) via an adaptive matching mechanism (34); the robot lifting support frame (32) has a plurality of matching mounting holes (340); the adaptive matching mechanism (34) comprises an adaptive matching fixing cylinder (341) fixed in the matching mounting holes (340) and opening downward; an adaptive matching support plate (342) is rotatably connected in the adaptive matching fixing cylinder (341); A matching adjustment support slide rail (343) extending radially thereof is fixed to the bottom of the adaptive matching support plate (342), a matching adjustment support slider (344) is slidably connected to the matching adjustment support slide rail (343), and a plurality of lifting locking outer cylinders (331) are fixedly connected to the lower ends of the matching adjustment support sliders (344) in a one-to-one correspondence; The underwater detection mechanism (40) comprises a plurality of underwater detectors (43).

2. The integrated device for deploying underwater robots and exploring operating environments according to claim 1 is characterized in that: A propeller rotating support ring (221) coaxial with the water-driven duct pipe (21) is fixed inside the water-driven duct pipe (21); a rotating shaft of the ducted propeller (22) is rotatably connected to the propeller rotating support ring (221); and the propeller rotating support ring (221) is fixedly connected to the inner wall of the water-driven duct pipe (21) via a plurality of radial fixing rods (222); A drive housing (223) is fixed to the backwater end of the propeller rotation support ring (221), and a propeller drive motor (224) for driving the ducted propeller (22) to rotate is fixed inside the drive housing (223).

3. The integrated device for deploying underwater robots and exploring operating environments according to claim 1 is characterized in that: The driving wheel storage mechanism (23) comprises a plurality of driving wheel storage supports (231) fixed to the outside of the main body bearing buoy (12), and a driving wheel storage support shaft (232) is rotatably connected to the driving wheel storage supports (231); A driving wheel telescopic support cylinder (233) extending in the radial direction thereof is fixed to the driving wheel storage support shaft (232); a driving wheel telescopic sliding cylinder (234) is slidably connected inside the driving wheel telescopic support cylinder (233); a plurality of the land travel driving wheels (24) are mounted one-to-one at the outer ends of the respective driving wheel telescopic sliding cylinders (234); a telescopic storage driving rod (235) for driving the driving wheel telescopic sliding cylinder (234) to move is provided inside the driving wheel telescopic support cylinder (233); A deflection drive accommodating shell (251) is fixed to the side of the driving wheel storage support (231); a deflection driven worm gear (252) is fixed to one end of the driving wheel storage support shaft (232) located in the deflection drive accommodating shell (251); a deflection drive worm (253) meshing with the deflection driven worm gear (252) is rotatably connected in the deflection drive accommodating shell (251); and a deflection drive motor (254) for driving the deflection drive worm gear (253) to rotate is fixed to the deflection drive accommodating shell (251).

4. The integrated device for deploying underwater robots and exploring operating environments according to claim 1, characterized in that: The underwater detection mechanism (40) comprises an underwater detection mounting frame (41), and a plurality of underwater detectors (43) are mounted on the underwater detection mounting frame (41) via a quick-release structure (42).

5. The integrated device for deploying underwater robots and exploring operating environments according to claim 4 is characterized in that: The quick-detachable structure (42) comprises a plurality of quick-detachable structure slide rails (421) fixed to the lower side of the underwater detection mounting frame (41); the quick-detachable structure slide rails (421) are rails with a T-shaped cross section; and a plurality of quick-detachable structure sliders (422) are slidably connected to the quick-detachable structure slide rails (421); The quick-release structure slider (422) has a limit shaft through hole (423), the axis of the limit shaft through hole (423) and the extension direction of the quick-release structure slide rail (421) are perpendicular to each other, a quick-release limit constraint shaft (424) is rotatably connected in the limit shaft through hole (423), a limit release groove (425) is provided on the side of the quick-release limit constraint shaft (424), and a plurality of quick-release limit constraint grooves (426) are provided on the quick-release structure slide rail (421); A manual drive disc (427) is fixed to the end of the quick-release limit constraint shaft (424).

6. The integrated device for deploying an underwater robot and exploring an operating environment according to claim 1, characterized in that: The robot lifting support frame (32) is provided with a water sampling mechanism (44), the water sampling mechanism (44) comprising a water sampling containing shell (441) fixed to the top of the robot lifting support frame (32) and with its opening facing upwards, a plurality of sampling bottle restraining rings (442) are fixed to the bottom of the water sampling containing shell (441), a water sampling bottle (443) is clamped and fixed in the sampling bottle restraining ring (442), a containing shell cover plate (444) is sealed and fixed to the top of the water sampling containing shell (441), and the containing shell cover plate (444) has A plurality of sampling tube fixing holes (445) are connected to the water body sampling containment shell (441); a sampling delivery tube (446) is fixed in the sampling tube fixing hole (445); a sampling delivery needle (447) is fixed at one end of the sampling delivery tube (446) located in the water body sampling containment shell (441); the sampling delivery needles (447) are inserted into the rubber stopper at the mouth of the water body sampling bottle (443) in a one-to-one correspondence; a sampling control valve (448) is provided on the sampling delivery tube (446); and the sampling control valve (448) is an electrically controlled valve.

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